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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": null,
"total_episodes": 1000,
"total_frames": 370952,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1000"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"action": {
"dtype": "float32",
"shape": [
10
],
"names": [
"eef_pos_x",
"eef_pos_y",
"eef_pos_z",
"eef_rot_0",
"eef_rot_1",
"eef_rot_2",
"eef_rot_3",
"eef_rot_4",
"eef_rot_5",
"gripper_pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"eef_pos_x",
"eef_pos_y",
"eef_pos_z",
"eef_rot_0",
"eef_rot_1",
"eef_rot_2",
"eef_rot_3",
"eef_rot_4",
"eef_rot_5",
"gripper_pos",
"shoulder_pan_joint",
"shoulder_lift_joint",
"elbow_joint",
"wrist_1_joint",
"wrist_2_joint",
"wrist_3_joint"
]
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
18
],
"names": [
"peg_pos_x",
"peg_pos_y",
"peg_pos_z",
"peg_rot_0",
"peg_rot_1",
"peg_rot_2",
"peg_rot_3",
"peg_rot_4",
"peg_rot_5",
"hole_pos_x",
"hole_pos_y",
"hole_pos_z",
"hole_rot_0",
"hole_rot_1",
"hole_rot_2",
"hole_rot_3",
"hole_rot_4",
"hole_rot_5"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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